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为了实现卓越I型机器人在实际环境中稳步行走,设计了底层控制系统中的关节控制器用于控制舵机。选用DSP TMS320F2812作为处理器,充分利用其全数字型,集成度高,体积小,低功耗以及可实现多轴运动的特点,对底层各个关节舵机进行控制,实现既定舵机的运转,以及将舵机的转速和位置等相关传感器的信息反馈给上级控制处理器实现对关节舵机精确的控制,并通过DSP TMS320F2812的两个事件管理器分别同时控制机器人的左右腿的关节舵机单元,提高了机器人在实际行走以及执行任务过程中的实时性、准确性以及稳定性。
In order to realize the excellent type I robot walking steadily in the real environment, a joint controller in the bottom control system was designed to control the steering gear. DSP TMS320F2812 processor as the choice, take full advantage of its all-digital, high integration, small size, low power consumption and multi-axis movement can be achieved on the characteristics of the bottom of each joint servo control to achieve the established steering gear operation, and The servo speed and position sensors and other related information feedback to the superior control processor to achieve precise control of the joint rudder and DSP TMS320F2812 through the two event managers simultaneously control the robot’s left and right leg joint rudder unit, Improve the real-time, accuracy and stability of the robot in the actual walking and carrying out the task.